SU1525369A1 - Harmonic drive - Google Patents

Abstract

The invention relates to mechanical engineering and may find application in the development of devices that provide slow rotation of an object with reversal. The purpose of the invention is to expand the kinematic capabilities of a wave drive by providing rotation of the working object in two planes. This goal is achieved by the fact that the wave drive contains a motor 2 with a drive shaft 1, on which drive gear 5 is fixed, interacting with wheels 6 and 7 of forward 3 shafts and reverse 4 rotations, each of which is installed with control clutches 12 -15 gears 8-11, a hollow input shaft 16, a conical pair, two wave transmissions equipped with selsyn sensors 31 and 32 and connected with selsyn receivers 33 and 34 to the inputs of a control device 35, the outputs of which are connected to controllable couplings 12- 15, gears shaft 4 reverse through the gears of the shaft 3, the direct rotation is connected with intermediate gears 24 and 25, one (25) of which is rigidly connected by a hollow input shaft 16 to the wave generator 18 of the first wave transmission, and the other (24) through the input shaft 17, through a hollow input shaft 16, through a conical pair 26 is connected to a second-gear wave generator 19, the axis of rotation of which is fixedly movable in the rigid wheel 22 of the first wave transmission, and the flexible wheel 21 of the second wave transmission is pivotally fixed in a rigid frame ECU 22 and connected to the working object 30. 1 Il.

Description

35 3

20 zz 28 //

and

I I I

79 bd /./J

/

and

(L

thirty

ate to

SP

00 O5

with

31

35

two planes. This goal is achieved by the fact that the wave drive contains a motor 2 with a drive shaft 1, on which the bottom of the nastern 5, the interaction) 111 is rigidly fixed, and with the wheels b and 7 va / yv forward 3 and the reverse) 4 rotations each of which is equipped with 12–15 control gear sleeves 8-11 gears, gkhpyn input shaft 16, a conical pair, two wave transmissions equipped with self-powered sensors 31 and 32 and () single-receiver selsyn receivers 33 and 34 with control inputs 35, 35, the outputs of which are connected to controllable couplings 12–15, starting shaft 4 o brotherly rotation

through the gears of the shaft 3 of direct rotation are connected with intermediate jaws 24 and 25, one (25) of which are rigidly connected to the hollow input shaft 16 with the generator in the first wave transmission (18), and the other (24) 17 passing through the hollow input shaft 16, through a conical pair 26 is connected to a second-gear wave generator 19, the axis of the wrap1, which is fixedly movable in the first wave transmission gear 22, and the flexible wheel 21 of the second wave transmission is fixed by frame 29 in hard wheel 22 and with United with the worker (j6i, eKToM 3f). I Il.

Isob is now more specifically related to manshi-troyik), ii in particular, to transmission devices with a speed and reversal.

Zep. Of the invention, the scattering of the kinematic possibilities of the drive through the use of a c) working object to the bottom planes.

At the clock, the wave shows schematically

P) IVOD.

5o.1povoy drive contains drive lia. i 1, ectrodvigal gel 2, cool pi1Y mo model per shaft 3 forward and shaft 4 reverse rotation, input P1 test () e 5, mounted on and |) iv () shaft 1 and driven gear boxes; ieca 6 and 7, installed respectively on the shafts. and 4. On each of the shafts installed HOB / icHo in a pair of controlled uiecTepen: on the shaft of 3 prp mos (J rotation - 8, 9, and on the shaft 4) rotational rotation And), 11, which

The cooTiicrcTBCHHO is connected to the shakings of the ISROM up | 1pc sleeves 12–15, while the controlled gear 8 interacts with the wrn 10 and 10 and the controlled 9 from I1este | i pay i 1.

 In addition, the drive contains two W-HOBijie transmissions of the first and second stages, each of which has an input shaft 16 and 17, on which are installed the 18 and 19 wave rectifiers, 20 and 21 flexible and hard) 22 and 23 wheel. The input shaft 16 of the wave transmission of the first step is hollow and viut) and the input shaft 17 passes through it. I new 11e () service of the second step, and on both input shafts 16 and 17 are installed iromezh point 1e Iterteri 24 and 25, respectively, with controlled gears 8 and 9, mounted on your gear, 1 3 njniMoro ramps. The input shaft 17 of the Voltage HOBoii ne) is connected with its) OM BF 19 through the conical flexible wheel 20 of the first wave transmission is rigidly connected to the housing 27, and its rigid wheel 22 is rigidly connected to the rigid transmission wheel 23 the second step through the support 28. The flexible wheel 21 is installed in a rigid Ko. The iece 22 also has a frame 29 on which the work object 30 is attached.

The wave drive contains an electrical circuit, inclusive) Two self-guided sensors, 0 and 31, installed on the hard wheel 22 of the first-stage wave transmission and the frame 29, respectively. Each selsyn sensor is associated with a respective m selsip receiver 33 and 34, connected to the inputs of the control unit 35, the outputs of the KOTopoi o are connected to the corresponding control clutches 12-15.

Wave drive works as follows.

The drive provides a turn of the working 0 side 30 in two planes: at the angle f by the wave transmission of the first stage and at the angle f by the wave transmission of the second stage.

The angle of the turn is set by the signal5

junk mismatch between its current and

program values: vpT, tfnp and U.Glr- Consider the operation of the drive when changing the angle vf. Moreover, in this case, the probability of -H1) 1 two options, each of which splits into 2 subvariants, when O Ai

fr -f „pI4 (/).

Consider. The first option, when 180 ° and. Then the control unit 35 sends a signal to the control clutch 13 and the rotation from the drive shaft 1 is transmitted through the shaft 3 through the direct rotation to the gear 9

PA input shaft 16 and then to the generator 18 waves of the first wave transmission, the flexible wheel 20 which is stationary, and the hard wheel 22 through the second wave transmission

connected to the working object 30, and the selsyn sensor 31 will register the angle of rotation a. In addition, due to the rotation of the second gear, the taper pair 26 will turn the shaft 17 and the free-wheel gears 8 and 10 into rotation.

If it is 180 °, then the signal from the 35 unraution unit is put into operation on the hollow shaft 14 and further on. The peculiarity of this is that the presence of free-flowing shchestren 9 means that the rotation of the working object 30 is reversed.

The second option, when 180 ° - / Vr fnfl 360 °, the case corresponds to the case considered above, for Д vj) “WITH and vice versa.

When considering the object 30 at the angle tf, based on the design features, the frame 29, mounted on the flexible wheel 21, can turn relative to the rigid first-gear wheel 22 at the angle. At the origin from one of the extreme positions of the object 30, we note that a 360 ° rotation is not provided in this case, which is not practically necessary. When rotating at an angle, 2 options are possible:

I) r -fnp - it is necessary to turn the object in one direction;

2) (/ -Vnf - the object rotates in the opposite direction from the 1st variant.

Let, then, rotation from the drive shaft 1 through the shaft 3 is directly curved, when the control clutch 12 is turned on, the gear 16 passes the shaft 17 and the conical pair 26 to the wave generator 19 of the second wave transmission, fixed mounting of the hard wheel 23 which, relative to the axis of rotation of the wave generator 19, provides rotation of the flexible wheel 21 together with the object 30 and the frame 29 on which the selsyn sensor 32 is installed, the forming signal y.

When Oh, Ie When pL Bcpca is needed, rotation from shaft 1 through the shaft of reverse rotation 4 when turning on the locking sleeve 14 of the bristles 8 is transmitted to the shaft 17. which, unlike the case considered, will rotate in the anti-slip direction, i.e. the object will also rotate in the opposite direction.

Thus, the specified design of a wave drive allows, when there is one electric motor

0

0

five

0

to ensure the rotation of the working object 1 in two planes.

Formula pzobrstnich

Wave drive, soda | 1zhan1iy ko | 1n with. dI1ate, to be a drive shaft, lia.ibi npHMoid and reverse rotation, opposite un | 1 av.) D usteren, installed chennh on na. 1 direct rotation, two pairs of controllers Myijvr. one of which is installed, 1ena on wah.1 is monitored and connected to the corresponding one) by a pair of controlled 1iestersten, wave 1. | e gears of the first and second stages, and the wave generators and hard and Mr. i Ko. Ie sa, two inputs) 1st shafts, associated with the corresponding wave generators, ustai, foam on the input shaft of the wave-non-transmission of the first stage, intermediate P1sturnk), the work object and e, the drive circuit, wc, 1 pc1p1-date- A chick, a selsyn receiver, and a coupling control unit, characterized in that, with HI races and rhenium of kinematic capabilities, by ensuring that the working power of the actuator is twofold or long, the drive is equipped with an input that two} gear wheels, installed respectively, on the shafts of the forward and reverse vran1enp for interaction with the input I1est1) 11th, up to, 1H1P e, 1b pair of control of the 1.1x hexagon for interaction with the main pair and paii y ||| equal, 1upi1x couplings installed , 1x p.ch va, 1 y of backward scrolling and associated with a do- nal stan- dard run managed by P1este | N p and installed on input Ba. iy in, -1 second gear CTyneini .lono.innTe.ibiioii intermediate gear d. .1Л with a generator in the in-1H () E () th gear of the second stage, a frame connecting the flexible BcxTHOBoii wheel of the second-stage gear with the working object and installed. To NNa P1arni) but in a flexible BO.IHOBOII wheel, the transmission of the first gear is not 1) 1mp in: .1extro scheme additional) p.shin receiver and selsyn sensor mounted on frame. on.1 BT () | ioii cTynetni sganov.1 en input va, 1a first, hard Ko. ieco V0.1NOVA transfer of the first ciynenn. On the main board, the main village is equipped with a base, it has a support rigidly connected with the IHI-CTKHM Ko.iecoM second stuneni, and the flexible Ko.ieco wave transmission riepBoii step with a hard drive and body.

Claims (1)

Claim A wave drive comprising a housing, an engine with a drive shaft, forward and reverse shafts, a pair of controlled gears mounted on a direct rotation shaft, two pairs of control couplings, one of which is mounted on a direct rotation shaft and connected to a corresponding pair of controlled gears, wave transmissions the first and second stages, having wave generators, and rigid and flexible wheels. two input shafts associated with the respective wave generators, an intermediate gear mounted on the input shaft of the wave transmission of the first stage, a working object and an electrical circuit of the drive, including a selsyn sensor, a selsyn receiver and a clutch control unit integrated in it, characterized in what. in order to expand kinematic capabilities by ensuring rotation of the working object in two planes, the drive is equipped with an input gear mounted on the drive shaft, two drive gears mounted respectively on the shafts of forward and reverse rotation for interaction with the input gear, an additional set of controlled gears for interaction with the main pair and a pair of control couplings mounted on the reverse rotation shaft and connected with an additional pair of controlled gears, and installed An additional intermediate gear located on the input shaft of the wave transmission of the second stage for interaction with the corresponding controlled gear. mounted on a direct rotation shaft by a conical pair connecting the input shaft with the generator in the second stage wave transmission, a frame connecting the second stage wave transmission flexible wheel to the working object and mounted pivotally in the first degree wave transmission wheel integrated into the circuit with additional sync-picker and Country-Danish. mounted on the frame, a shaft of the second degree is installed inside the input shaft of the first, a rigid wave transmission wheel of the first stage. on which the main rural lagoon is installed. has a support rigidly connected to the six-wheel wheel of the second stage, and the flexible wheel of the wave transmission of the first stage is rigidly connected to the body. Compiled by S. Co.: Elnikov Editor A. Dolinin Order 7200/28 Tehred I. Veres Corrector M. Vasilieva Circulation 721 1 (odnosios VNIIIPI of the State Committee for Inventions and Discovery: I m at the State Committee for Science and Technology <. <D 113035. Moscow. W —35. Raushskaya nab., D 4 5 Production and Publishing Plant "Patent", Uzhhorod, st. Gagarin. GN